Epson N6 Series User Manual

Maintenance 8. Calibration
352 N6 Rev.2
8. Calibration
8.1. Overview
After parts (actuator units, timing belts, etc.) or the battery board have been replaced, the
Manipulator cannot perform positioning properly because a gap exists between the origin
stored in each actuator unit and its corresponding origin stored in the Controller.
After replacing the parts, it is necessary to match these origins.
The process of aligning the two origins is called “Calibration”.
Note that calibration is not the same as teaching*
* “Teaching” means to teach the Controller coordinate points (including poses) anywhere
in the operating area of the Manipulator.
WARNING
■
To ensure safety, a safeguard must be installed for the robot system.
For details
on the safeguard, refer to the
Installation and Design Precautions in the Safety
chapter of the
EPSON RC+ User’s Guide.
■
Before operating the robot system, make sure that no one is inside the
safeguarded area.
The robot system can be operated in the mode for teaching
even when someone is inside the safeguarded area.
The motion of the
Manipulator is always in restricted (low speeds and low power) status to secure
the safety of an operator.
However, operating the robot system while someone
is inside the safeguarded area is extremely hazardous and may result in serious
safety problems in case that the Manipulator moves unexpectedly.
There are two methods to move the Manipulator during calibration.
- Releasing the Electromagnetic brake and moving the arms manually.
For details, refer to the Setup & Operation 1.5 How to Move Arms with the
Electromagnetic brake.
- Moving the Manipulator using Jog & Teach.
For details of Jog & Teach, refer to the following manual.
EPSON RC+ User's Guide 5.11.1 [Robot Manager] Command (Tools Menu)-[Jog and
Teach]
Moving the Manipulator while releasing the Electromagnetic brake involves risk as
described below.
CAUTION
■
Normally, release the brake of joints one by one.
Take extra care if you need to
release the brakes of two or more joints simultaneously.
Releasing the brakes
of two or more joints simultaneously may cause hands and fingers to be caught
and/or equipment damage to or malfunction of the Manipulator as the arms of the
Manipulator may move in unexpected directions.
■
Be careful of the arm fa
lling when releasing the brake.
While the brake is being released, the Manipulator
’s arm falls by its own weight.
The arm falling may cause hands and fingers to be caught and/or may cause
equipment damage to or malfunction of the Manipulator.

Epson N6 Series Specifications

General

Brand	Epson
Model	N6 Series
Category	Robotics
Language	English